A method for judging the interference type of string-shaped fruit mother branches based on visual zooming method

A technology of interference type and scaling method, applied in agricultural machinery and tools, instruments, computing, etc., can solve the problems of difficult identification and positioning of mother branches, inability to accurately find string-shaped fruit mother branches, and damage to fruits, etc.

CN112818781BActive Publication Date: 2021-09-14CHONGQING UNIV OF ARTS & SCI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-09-14

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Abstract

The invention provides a method for judging the interference type of string-shaped fruit branches based on the visual zoom method. The method first realizes pre-positioning of the mother branches through the cooperation of a monocular camera and a binocular camera, and obtains a pre-positioning image and a pre-positioning image of the mother branch. The geometric center point, and then obtain the actual positioning image and the actual positioning geometric center point of the mother branch in the picking process through the binocular vision camera; finally, use the monocular vision zoom method to compare the actual positioning image of the mother branch with the pre-positioning image to determine the mother branch Interference type. This method can not only accurately and effectively identify the fruit bunches and pre-position the parent branches of the fruit bunches, but also accurately judge the interference type of the mother branches during the picking process and avoid the influence of external factors, so that the picking robot can accurately cut the fruit bunches The mother branch ensures the integrity of the fruit bunch, improves picking efficiency, reduces picking costs, and saves labor.
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Description

technical field

[0001] The invention relates to the technical field of fruit intelligent picking, in particular to a method for judging the interference type of string-shaped fruit branches based on a visual zoom method. Background technique

[0002] my country is an important producer of string fruits such as longan, grapes, and lychees, and is also deeply loved by consumers; for example, lychees are distributed in the southwest, south, and southeast of my country, and Guangdong and southern Fujian are the most cultivated. Bananas, pineapple, and longan are known as the "four major fruits in the southern country".

[0003] For the picking of bunch-shaped fruits, it mainly relies on manual work at present. However, manual picking is labor-intensive and expensive, and wastes a lot of manpower and material resources. Second, manual picking is inefficient, time-consuming, and costly.

[0004] With the advancement of science and technology, mechanical automation and intelligence...

Examples

Embodiment

[0054] Such as Figure 1~3 As shown, taking litchi as an example, a method for judging the interference type of string-shaped fruit branches based on the visual zoom method is characterized in that:

[0055] S100, first realize the pre-positioning of the mother branch through the cooperation of the monocular CCD camera and the binocular CCD camera, and the specific steps are:

[0056] S101: Use a monocular CCD camera to randomly acquire multiple color images including string-shaped fruits, leaves, and branches; select and divide multiple fruit objects and non-fruit objects in the color image, and extract fruit objects and non-fruit objects respectively The texture feature value and color feature value of the target are used as positive and negative samples;

[0057] S102. Use the support vector machine SVM to train the positive and negative samples to generate multiple weak classifiers; then use the AdaBoost algorithm to construct a strong classifier, use the strong classifie...